U.S. patent application number 14/886093 was filed with the patent office on 2016-11-03 for method and system for tracking moving trajectory based on human features.
This patent application is currently assigned to Protruly Vision Technology Group CO.,LTD. The applicant listed for this patent is Protruly Vision Technology Group CO.,LTD. Invention is credited to Songwei Lin, Gang Long.
Application Number | 20160323517 14/886093 |
Document ID | / |
Family ID | 53620172 |
Filed Date | 2016-11-03 |
United States Patent
Application |
20160323517 |
Kind Code |
A1 |
Long; Gang ; et al. |
November 3, 2016 |
Method and system for tracking moving trajectory based on human
features
Abstract
The present invention discloses a method and system for tracking
a moving trajectory based on human features. The method comprises:
simultaneously capturing images by a zooming CCD camera and an
infrared thermal imager, and respectively transmitting the images
to an intelligent analysis unit A and an intelligent analysis unit
B; extracting and matching blocking features by a human feature
identifying module of the intelligent analysis unit A, and
detecting a target moving human body by a moving object detecting
module; detecting a human boundary by the intelligent analysis unit
B; obtaining analysis data in real time by a main control unit,
computing the proportion of the size of the target moving human
body in the size of the whole image, and a deviation angle and
direction of a moving target and an optical axis, and transmitting
the same to a cloud terrace control unit; and controlling the
horizontal angle of a cloud terrace system, the vertical angle of
the cloud terrace system and the focal distance of the zooming CCD
camera by the cloud terrace control unit so that the moving target
is always in the middle of the visual field of the zooming CCD
camera. The present invention is not affected by the factors of
weather, illumination, shadows and the like, and has lower
probability of missing detection and false detection.
Inventors: |
Long; Gang; (Nanjing,
CN) ; Lin; Songwei; (Nanjing, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Protruly Vision Technology Group CO.,LTD |
Nanjing |
|
CN |
|
|
Assignee: |
Protruly Vision Technology Group
CO.,LTD
|
Family ID: |
53620172 |
Appl. No.: |
14/886093 |
Filed: |
October 19, 2015 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06K 9/6282 20130101;
G06K 9/2018 20130101; G06T 2207/30196 20130101; H04N 7/183
20130101; G06K 9/00362 20130101; G06T 2207/10048 20130101; H04N
5/33 20130101; G01S 3/7864 20130101; G01S 3/782 20130101; G06T
2207/30241 20130101; H04N 5/23296 20130101; G06K 9/629 20130101;
G06T 2207/30232 20130101; G06K 9/00771 20130101 |
International
Class: |
H04N 5/232 20060101
H04N005/232; H04N 7/18 20060101 H04N007/18; H04N 5/33 20060101
H04N005/33; G06T 7/20 20060101 G06T007/20; G06T 7/00 20060101
G06T007/00 |
Foreign Application Data
Date |
Code |
Application Number |
Apr 29, 2015 |
CN |
201510211049.6 |
Claims
1. A method for tracking a moving trajectory based on human
features, characterized by comprising the following steps: step 1:
an image capturing unit carried on a cloud terrace system
comprising a zooming CCD camera and an infrared thermal imager;
simultaneously performing image capturing on a monitoring
environment by the zooming CCD camera and the infrared thermal
imager; transmitting a captured image to an intelligent analysis
unit A by the zooming CCD camera; and transmitting a captured image
to an intelligent analysis unit B by the infrared thermal imager;
step 2: performing image algorithm analysis on the image captured
by the zooming CCD camera through a human feature identifying
module carried by the intelligent analysis unit A, and detecting
and separating the information of a human dynamic profile, a head,
hands and feet, extracting blocking features of image information
and building a histogram; contrasting and matching the extracted
blocking features with a human feature library by adopting a
decision tree classifier; and detecting a target moving human body
from the images by a moving object detecting module carried by the
intelligent analysis unit A by adopting a method for extracting a
moving target in a gray image sequence; step 3: adopting edge
detection in the image captured by the infrared thermal imager
through the intelligent analysis unit B, and detecting a human
boundary; step 4: obtaining analysis data in real time by a main
control unit from the intelligent analysis unit A and the
intelligent analysis unit B, computing the proportion of the size
of the target moving human body in the size of the whole image, and
a deviation angle and direction of the moving target and an optical
axis, and transmitting a horizontal deviation value and a vertical
deviation value for deviation from the optical axis, and a size
proportion value to a cloud terrace control unit; and step 5:
controlling the horizontal angle of a cloud terrace system, the
vertical angle of the cloud terrace system and the focal distance
of the zooming CCD camera by the cloud terrace control unit
according to the horizontal deviation value, the vertical deviation
value and the size proportion value of the moving target so that
the moving target is always in the middle of the visual field of
the zooming CCD camera, thereby realizing tracking on a human
moving trajectory.
2. A system for tracking a moving trajectory based on human
features, characterized by comprising a zooming CCD camera, an
infrared thermal imager, an intelligent analysis unit A, an
intelligent analysis unit B, a cloud terrace control unit and a
main control unit, wherein the zooming CCD camera captures an image
and transmits the image to the intelligent analysis unit A; the
infrared thermal imager captures an image and transmits the image
to the intelligent analysis unit B; the intelligent analysis unit A
and the intelligent analysis unit B are respectively connected with
the main control unit; the main control unit is connected with the
cloud terrace control unit; and the cloud terrace control unit
respectively performs data interaction with the zooming CCD camera
and the infrared thermal imager.
3. The system for tracking the moving trajectory based on human
features according to claim 2, characterized in that the cloud
terrace control unit controls the zooming CCD camera and the
infrared thermal imager to perform 120.degree. rotation in a
vertical direction and perform 360.degree. rotation in a horizontal
direction; and the cloud terrace control unit also controls the
zooming CCD camera to perform a zooming action.
4. The system for tracking the moving trajectory based on human
features according to claim 2, characterized in that the
intelligent analysis unit A comprises a human feature identifying
module and a moving object detecting module.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of, and claims priority
to, Chinese Patent Application No. 201510211049.6 with a filing
date of Apr. 29, 2015. The content of the aforementioned
application, including any intervening amendments thereto, is
incorporated herein by reference.
TECHNICAL FIELD
[0002] The present invention relates to the field of intelligent
transportation, in particular to a method and system for tracking a
moving trajectory based on human features.
BACKGROUND OF THE PRESENT INVENTION
[0003] The tracking of a human moving trajectory integrates
advanced technologies of the fields of image collection, detection
of moving objects, pattern identification, automatic control and
the like, and is mainly applied to intelligent safety monitoring,
human-machine interfaces and detailed analysis of human movement.
Especially after the United States experiences 911 terrorist
attack, the world increasingly pays close attention to the safety
problem.
[0004] An intelligent safety monitoring system based on perspective
analysis not only can efficiently finish a safety guarantee task,
but also can greatly save manpower and material resources.
Therefore, the research on the tracking of the human moving
trajectory has wide application prospect. The tracking of the human
moving trajectory mainly relates to the detection of the moving
objects, the identification of human features and the tracking of
the trajectory. The existing tracking solution only adopts an
ordinary CCD camera for performing image collection, the detection
of the moving objects and the identification of human features, and
is easy to be affected by the factors of weather, illumination,
shadows and the like, causing the situation of target loss due to
false detection and missing detection.
SUMMARY OF THE PRESENT INVENTION
[0005] The purpose of the present invention is to provide a method
and system for tracking a moving trajectory based on human
features, and the present invention is not affected by the factors
of weather, illumination, shadows and the like, and has lower
probability of missing detection and false detection.
[0006] To achieve the above purpose, the present invention provides
the following technical solution:
[0007] A method for tracking a moving trajectory based on human
features comprises the following steps:
[0008] step 1: an image capturing unit carried on a cloud terrace
system comprising a zooming CCD camera and an infrared thermal
imager; simultaneously performing image capturing on a monitoring
environment by the zooming CCD camera and the infrared thermal
imager; transmitting a captured image to an intelligent analysis
unit A by the zooming CCD camera; and transmitting a captured image
to an intelligent analysis unit B by the infrared thermal
imager;
[0009] step 2: performing image algorithm analysis on the image
captured by the zooming CCD camera through a human feature
identifying module carried by the intelligent analysis unit A, and
detecting and separating the information of a human dynamic
profile, a head, hands and feet, extracting blocking features of
image information and building a histogram; contrasting and
matching the extracted blocking features with a human feature
library by adopting a decision tree classifier; and detecting a
target moving human body from the images by a moving object
detecting module carried by the intelligent analysis unit A by
adopting a method for extracting a moving target in a gray image
sequence;
[0010] step 3: adopting edge detection in the image captured by the
infrared thermal imager through the intelligent analysis unit B,
and detecting a human boundary;
[0011] step 4: obtaining analysis data in real time by a main
control unit from the intelligent analysis unit A and the
intelligent analysis unit B, computing the proportion of the size
of the target moving human body in the size of the whole image, and
a deviation angle and direction of the moving target and an optical
axis, and transmitting a horizontal deviation value and a vertical
deviation value for deviation from the optical axis, and a size
proportion value to a cloud terrace control unit; and
[0012] step 5: controlling the horizontal angle of a cloud terrace
system, the vertical angle of the cloud terrace system and the
focal distance of the zooming CCD camera by the cloud terrace
control unit according to the horizontal deviation value, the
vertical deviation value and the size proportion value of the
moving target so that the moving target is always in the middle of
the visual field of the zooming CCD camera, thereby realizing
tracking on a human moving trajectory.
[0013] A system for tracking a moving trajectory based on human
features comprises a zooming CCD camera, an infrared thermal
imager, an intelligent analysis unit A, an intelligent analysis
unit B, a cloud terrace control unit and a main control unit,
wherein the zooming CCD camera captures an image and transmits the
image to the intelligent analysis unit A; the infrared thermal
imager captures an image and transmits the image to the intelligent
analysis unit B; the intelligent analysis unit A and the
intelligent analysis unit B are respectively connected with the
main control unit; the main control unit is connected with the
cloud terrace control unit; and the cloud terrace control unit
respectively performs data interaction with the zooming CCD camera
and the infrared thermal imager.
[0014] As a further solution of the present invention: the cloud
terrace control unit controls the zooming CCD camera and the
infrared thermal imager to perform 120.degree. rotation in a
vertical direction and perform 360.degree. rotation in a horizontal
direction; and the cloud terrace control unit also controls the
zooming CCD camera to perform a zooming action.
[0015] As a further solution of the present invention: the
intelligent analysis unit A comprises a human feature identifying
module and a moving object detecting module.
[0016] Compared with the prior art, the present invention has the
beneficial effects: 1. the zooming CCD camera is adopted, so the
monitoring and tracking range is wide; 2. the intelligent analysis
unit A adopts the method of extracting the moving target in a gray
image sequence, and the moving target extracted by the algorithm
has small distortion and low false detection rate; and the moving
target extracted by the algorithm has small distortion and low
false detection rate; 3. a human basic profile and features are
obtained through the image analysis of the infrared thermal imager,
thereby evading the situation of false detection caused by outside
environmental change of weather, illumination, shadows and the
like. The present invention has lower probability of generating
missing detection and false detection.
BRIEF DESCRIPTION OF THE DRAWINGS
[0017] FIG. 1 is a system structure block diagram of embodiment 1
of the present invention.
DETAILED DESCRIPTION OF THE PRESENT INVENTION
[0018] The technical solution in the embodiment of the present
invention will be clearly and completely described below with
combination of the embodiment and the drawing of the present
invention. Apparently, the described embodiment is merely some but
not all of embodiments of the present invention. On the basis of
the embodiment in the present invention, all other embodiments
obtained by those skilled in the art on the premise of not making
any creative effort shall belong to the protection scope of the
present invention.
Embodiment 1
[0019] Please with reference to FIG. 1, in the embodiment of the
present invention, a system for tracking a moving trajectory based
on human features consists of a zooming CCD camera, an infrared
thermal imager, an intelligent analysis unit A, an intelligent
analysis unit B, a cloud terrace control unit and a main control
unit, wherein the zooming CCD camera captures an image and
transmits the image to the intelligent analysis unit A; the
infrared thermal imager captures an image and transmits the image
to the intelligent analysis unit B; the intelligent analysis unit A
and the intelligent analysis unit B are respectively connected with
the main control unit; the main control unit is connected with the
cloud terrace control unit; and the cloud terrace control unit
respectively performs data interaction with the zooming CCD camera
and the infrared thermal imager.
[0020] The intelligent analysis unit A comprises a human feature
identifying module and a moving object detecting module.
[0021] The cloud terrace control unit can control the zooming CCD
camera and the infrared thermal imager to perform 120.degree.
rotation in a vertical direction and perform 360.degree. rotation
in a horizontal direction, and can control the zooming CCD camera
to perform a zooming action.
[0022] The zooming CCD camera adopts an advanced 3A technology
(automatic focusing (AF), automatic exposure (AE) and automatic
white balance (AWB)) to achieve that a clear image can be captured
within the entire zooming range of the camera.
[0023] The infrared thermal imager uses a photoelectric technology
to detect an infrared specific band signal of human heat radiation;
the signal is converted into an image and a figure capable of being
distinguished by human vision; and the human basic profile and the
features can be obtained through the image analysis of the thermal
imager, thereby evading the situation of false detection of the
intelligent analysis unit A caused by outside environmental change
of weather, illumination, shadows and the like.
[0024] The intelligent analysis unit B adopts edge detection in the
image captured by the infrared thermal imager and detects a human
boundary for evading the situation of false detection caused by
outside environmental change of weather, illumination, shadows and
the like.
[0025] A method for tracking a moving trajectory based on human
features comprises the following steps:
[0026] step 1: an image capturing unit carried on a cloud terrace
system comprising a zooming CCD camera and an infrared thermal
imager; simultaneously performing image capturing on a monitoring
environment by the zooming CCD camera and the infrared thermal
imager; transmitting a captured image to an intelligent analysis
unit A by the zooming CCD camera; and transmitting a captured image
to an intelligent analysis unit B by the infrared thermal
imager;
[0027] step 2: performing image algorithm analysis on the image
captured by the zooming CCD camera through a human feature
identifying module carried by the intelligent analysis unit A, and
detecting and separating the information of a human dynamic
profile, a head, hands and feet, extracting blocking features of
image information and building a histogram; contrasting and
matching the extracted blocking features with a human feature
library by adopting a decision tree classifier; and detecting a
target moving human body from the images by a moving object
detecting module carried by the intelligent analysis unit A by
adopting a method for extracting a moving target in a gray image
sequence;
[0028] step 3: adopting edge detection in the image captured by the
infrared thermal imager through the intelligent analysis unit B,
and detecting a human boundary for evading the situation of false
detection caused by outside environmental change of weather,
illumination, shadows and the like;
[0029] step 4: obtaining analysis data in real time by a main
control unit from the intelligent analysis unit A and the
intelligent analysis unit B, computing the proportion of the size
of the target moving human body in the size of the whole image, and
a deviation angle and direction of the moving target and an optical
axis, and transmitting a horizontal deviation value and a vertical
deviation value for deviation from the optical axis, and a size
proportion value to a cloud terrace control unit; and
[0030] step 5: controlling the horizontal angle of a cloud terrace
system, the vertical angle of the cloud terrace system and the
focal distance of the zooming CCD camera by the cloud terrace
control unit according to the horizontal deviation value, the
vertical deviation value and the size proportion value of the
moving target; the cloud terrace system having sensitive response
and stably adjusting the deflection angle in real time so that the
moving target is always in the middle of the visual field of the
zooming CCD camera, thereby realizing tracking on a human moving
trajectory. The amount of rotation of a cloud terrace is crucial to
the tracking of the moving target. If the rotation amplitude of the
cloud terrace is excessively large, a tracked moving target may be
lost in the visual field; and if the rotation amplitude of the
cloud terrace is excessively small, the moving target may be lost
because the moving speed of the tracked moving target cannot be
caught.
[0031] For those skilled in the art, it is apparent that the
present invention is not limited to the details of the
above-mentioned exemplary embodiment. Moreover, the present
invention can be realized in other specific forms without departing
from the spirit or basic feature of the present invention.
Therefore, in every way, the embodiment shall be regarded to be
demonstrative, and non-limiting. The scope of the present invention
is defined by the appended claims rather than the above-mentioned
illustration. Therefore, the purpose is to embrace all changes
within the implication and scope of equivalent essentials fallen
into the claims into the present invention.
[0032] In addition, it should be appreciated that although the
description is depicted according to the embodiment, not every
embodiment only contains one independent technical solution. This
depicting manner of the description is only for clarity. The
description should be regarded as a whole by those skilled in the
art, and the technical solution in each embodiment can also be
appropriately combined to form other embodiments that can be
understood by those skilled in the art.
* * * * *